Hi Eitan, Thanks for the suggestion, I will take a look at the navigation stage package. Regards, Ian_wk -- View this message in context: http://ros-users.122217.n3.nabble.com/Navigation-Stack-with-Stage-3-2-2-C-turtle-tp1410716p1423908.html Sent from the ROS-Users mailing list archive at Nabble.com.